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Ins alignment method using a doppler sensor and a GPS/HVINS

  • US 6,094,163 A
  • Filed: 01/21/1998
  • Issued: 07/25/2000
  • Est. Priority Date: 01/21/1998
  • Status: Expired due to Fees
First Claim
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1. A transfer alignment system for aligning an inertial navigation system of a slave vehicle comprising:

  • an inertial navigation system installed in the slave vehicle and providing the position, velocity and attitude of the slave vehicle;

    a Doppler velocity sensor installed in the slave vehicle and providing the velocity of the slave vehicle with respect to a coordinate system fixed to the body of the slave vehicle;

    one of an inertial navigation system and an integrated global positioning system/inertial navigation system installed in an aircraft carrying the slave vehicle and providing the position, velocity and attitude of the aircraft; and

    a transfer alignment filter updated by a velocity measurement of the Doppler velocity sensor and at least one of the velocity and the position of a host aircraft navigation system.

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